JPS63273908A - Production system for teaching data on industrial robot - Google Patents

Abstract

PURPOSE:To realize an information production system having high universal applicability and high conformity by using an editing device connectable to a desired robot via a controller independently of a computer aided design system and correcting the given teaching information by reading out a matrix showing the deviation from the teaching information produced from actuation of the robot. CONSTITUTION:An editing device 4 is provided independently of a computer aided design CAD system 2 and connected to a desired robot 8 via an R/B controller 6. The system 2 delivers the teaching information produced by showing the reference points within a robot working range. The device 4 consists of an input/output controller 38, a display device 40 and a mouse 42 and receives input of the numerical value, etc., via an alphameric/KATAKANA (square form of Japanese syllabary) keyboard 44 to hold a deviation matrix from the teaching information produced from actuation of the robot 8 to the teaching points. This deviation matrix is read out for correction of the teaching information of the system 2. In such a constitution, the universal applicability and the conformity are improved for a robot teaching information production system.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a teaching data creation system for industrial robots such as welding robots, and more specifically, the present invention relates to a teaching data creation system for industrial robots such as welding robots. Relating to a teaching data creation system equipped with an editing device that can edit teaching data created while simulating the shape of a workpiece and robot motion to match the actual machine, that is, the actual robot to which the teaching data is applied. In particular, the present invention relates to an off-line industrial robot teaching data creation system in which the editing device is an independent device separate from a CAD system.

[Background of the Invention] In recent years, with the development of industrial robots, automation has been promoted in various fields, and in particular, various industrial robots including welding robots are being used in assembly and production lines of automobiles, etc. . In this case, a versatile and quick-response robot system is desired in order to accommodate the wide variety of vehicle models and frequent model changes.

However, in response to such requests, there are various inconveniences when creating teaching data for making each robot perform a predetermined operation.

In other words, when teaching a robot, there is a method in which the robot arm is actually moved to a working position, and when the teacher visually judges that the working position is a desirable position, the teaching box is operated to perform teaching. is common. In this case, it has been pointed out that the teaching work has the disadvantage of being time-consuming because it requires a very large number of man-hours, and also requires the instructor's visual judgment, requiring experiential skill, and lacking in versatility and quick response. ing.

Therefore, with the recent development of computer technology, teaching using a computer-aided design system (CAD system: computer-aided design system) is being carried out. In teaching using this CAD system, the shape of the robot arm, type of tool, and shape of the workpiece are memorized in a predetermined coordinate system, and the robot arm, workpiece, etc. are displayed on the graphic display based on these data. .

and specifying a desired position on the graphic display using an interactive input means such as a light pen;
It teaches the work point while simulating the movement of a robot arm, etc. For example, this kind of technical idea is disclosed in Japanese Patent Application Laid-Open Nos. 59-52304 and 60-956.
This is disclosed in Publication No. 05 and the like.

However, when creating teaching data using the CAD system as described above, the data format of the teaching data output from the CAD system must match the data format based on the language used by the target robot, and other It is not possible to apply the same teaching data to robots with different data formats or to new robot models newly introduced to the production line, and in the end, the teaching data is not applied to each robot while simulating robot motion using a CAD system. This creates the complication of having to create a .

In addition, the teaching data created by the CAD system is based on a simulation of the robot's operation in an ideal state, and the actual robot installed at the manufacturing site, that is, the actual machine, has errors in the coordinate system due to installation position errors and Corrections are often required due to shape errors in the workpiece itself or mutual interference between adjacent robots, and design changes to jigs and tools are often required.

Therefore, the teaching data created by the CAD system is actually input into the robot at the manufacturing site, and the deviation due to the deviation when operating based on this teaching data is measured and the amount of correction of the teaching data is recalculated.
Confirmation and correction work such as inputting into the AD system to obtain the final teaching data is essential, which causes an increase in man-hours. Furthermore, if it becomes necessary to add or delete teaching points, please use the CAD again in the same way.
It was necessary to input it into the system.

In general, CAD systems are placed in design departments, while robots are installed at manufacturing sites such as factories, and are used to check and modify teaching data, or to input it into the actual machine for actual use. A problem has arisen in that work such as adjustment of errors discovered during the manufacturing process cannot be easily carried out on site.

[Object of the Invention] The present invention has been made to overcome the above-mentioned disadvantages, and the present invention has been made to overcome the above-mentioned disadvantages. Desired editing corresponding to the robot is performed offline by an editing device independent of the CAD system, and the editing device applies the format of the teaching data output from the CAD system to the teaching data. It has excellent versatility and quick response, making it easy to convert data into a data format compatible with the robot, correct coordinate system deviations due to robot installation, and add, delete, and modify teaching points, etc. on site. The purpose is to enable the creation of teaching data for industrial robots.

Means for Accomplishing the Objects To achieve the above objects, the present invention accumulates data about a robot and/or a workpiece, displays the robot and the workpiece on a graphic display, and inputs A CAD system for creating teaching data by specifying a desired point on the graphic display by a means, and an editing device that is provided independently of the CAD system and can be coupled to a desired robot via a robot controller. , teaching data created by specifying a plurality of reference points within the operating range of the robot in the CAD system, and each point corresponding to the plurality of points in the robot created by operating the robot. The editing device creates and holds a calculation matrix indicating the deviation from the teaching data created by the CAD system, and corrects the teaching data created by the CAD system by reading out the calculation matrix corresponding to the robot concerned. .

[Embodiments] Next, preferred embodiments of the teaching data creation system for industrial robots according to the present invention will be described in detail below with reference to the accompanying drawings.

FIG. 1 is a block diagram showing the configuration of a teaching data creation system for an industrial robot according to the present invention.

In this case, reference numeral 2 designates a computer-aided design system (CAD system), which includes a central processing unit 12, a graphics processing unit 14 and a graphic display 1.
Contains 6. In this CAD system 2, the shape of the robot arm, etc., the type of tools and jigs, the shape of the workpiece, etc. are input in a predetermined coordinate system, and stored in the storage means, and the graphic display 16 is displayed based on these data. The robot arm, workpiece, etc. are displayed on the screen, and teaching data is created by specifying a desired position using an input means and determining a teaching point. The CAD system 2 has a generally known three-dimensional shape definition function, robot motion simulation function, design,
Equipped with drafting functions, etc.

The above functions allow conversational 3D modeling of robots, jigs, tools, etc., 3D modeling of workpieces, simulation of robot movements, checking for interference with jigs, adjacent robots, and workpieces, and checking of each joint of the robot. Teaching data expressed as angle information and/or coordinate values of teaching points, Euler angles, etc., that is,
It is possible to output robot work programs, design jigs and tools, and perform drawings.

Reference numeral 18 is a tablet cursor device for menu selection, screen instructions, etc., reference numeral 20 is a keyboard device for inputting characters and numerical values, reference numeral 22 is a program keyboard device for switching functions, and reference numeral 24 is a keyboard device for inputting images. It is a dial device for enlarging, reducing, scrolling, rotating, etc. Further, reference numeral 26 is a file for registering and storing shape data, etc. related to the robot, reference numeral 28 is a file for registering and storing shape data, etc. of the workpiece, that is, a workpiece, and reference numeral 30 is a file for registering and storing data regarding the equipment. Storage file, reference numeral 32 is a storage file for teaching data (work program TASK), reference numeral 34 is a teaching data (TASK) output device, and reference numeral 36 is a recording such as a floppy disk to which the teaching data is output. It is a means.

Reference numeral 4 denotes an editing device provided independently of the CAD system 2, which is configured to be connectable to a desired robot 8 via a robot controller 6, and which transfers teaching data output from the CAD system 2 to a floppy disk 36. is given and received as a medium. The editing device 4 includes an arithmetic processing and input/output control device 38 such as a microcomputer, a display 40, and a mouse device 42 for inputting commands, and is connected to a keyboard device 44 for inputting characters and numbers.

The editing device 4 performs format conversion to convert the teaching data output from the CAD system 2 into a data format that matches the desired robot 8, corrections such as adding, deleting, and changing teaching data, 3D shift calculations to be described later, and teaching data ( It has functions such as sending and receiving the work program (TASK) to and from the robot controller 6 and backing up (storing) teaching data. In this case, in addition to format conversion and modification, the teaching data created in the ideal environment by the CAD system 2 through 3D shift calculations is sent to the robot controller 6 and the editing device 4 through the transmission/reception function in order to correct errors in the actual environment at the robot work site. It is given and received between. Further, this teaching data is saved in a storage medium as a work program TASK, a backup file is created, or a teaching box 46 connected to the robot controller further corrects any defects in the teaching data found at the site.

The CAD system 2 and the editing device 4 are configured as independent devices that exchange teaching data using a floppy disk 36 as a medium.By installing the editing device 4 on site, the teaching data created by the CAD system can be easily edited. can be adjusted on-site.

The teaching data creation system for the present deaf person is roughly configured as described above.Next, the processing procedure and effects related to the creation of teaching data will be explained.

FIG. 2 is a processing flow showing the teaching data creation procedure in the CAD system 2.

When creating teaching data, first check whether the equipment to be simulated has been registered in the file 30, and if it has not been registered, register it as a new three-dimensional model in the file 30 (STPI).
). Similarly, it is checked whether the desired robot for which teaching data is to be created has already been registered in the file 26, and if it has not been registered, it is newly registered in the file 26 as a three-dimensional model (SrF2). Also,
It is checked whether the workpiece to be processed by the robot has already been registered in the file 28, and if it has not been registered, it is newly registered in the file 28 as a three-dimensional model (SrF3).

Next, check whether the jigs and tools used in processing, such as welding guns and workpiece holding jigs in the case of welding work using a welding robot, have already been registered, and if they have not been registered, As in the case described above, a new three-dimensional model is designed and registered (SrF2). In this case, data on equipment, robots, workpieces, etc. that have already been registered in steps 1 to 3 are used as necessary.

When the above preparation work is completed, in step 5, a combination of equipment, robots, workpieces, jigs, etc. is input from the files 26 to 30, the object to be simulated is determined, and the graphic display 16 Create a simulation environment. Next, a working point (for example, a welding point in a welding operation) on the workpiece is indicated by the tablet cursor device 18, and the point is designated by a coordinate value (x.

y, z) to create a teaching point (5TP6), and create a vector for determining the robot's posture using the teaching point as a starting point (STP7).

Next, the point of the tip of the robot (torch tip), the posture vector, the welding point of the workpiece, and the posture determination vector are each taught using the tablet cursor device 18 (
STP8.5TP9).

When data regarding one teaching point is created through the above operations, the central processing unit 12 performs a motion simulation, and the robot's motion results are displayed on the screen (
STPIO). Here, the operator visually checks by changing the display direction of the robot on the graphic display 16 to determine whether the robot's posture is optimal and whether there is any interference (contact, etc.) between the robot, jig, or workpiece.
5TPII, 12), and if necessary, return to step 4 and change the jig, etc.

When the posture of the robot and the presence or absence of interference are confirmed in steps 11 and 12 and teaching of one teaching point is completed, the process returns to step 6 and an instruction to input the next teaching point is given. Note that this operation is repeated until teaching for all work points is completed (STP13).

The above processing, that is, the setup of the motion simulation, the preliminary interference check before creating teaching data (work program TASK), and the examination of defects in jigs, etc., are performed for each work point. When these are completed for all work points, each work point is efficiently inherited and a series of teaching data (work program TASK) is created.
Let's move on to the process that configures the .

First, in step 14, input instructions for the robot's operation mode and speed are given using the keyboard device 20. Operation mode/speed specifications include, for example, link operation instructions (L N K / * * ), linear interpolation operation instructions (1,■N/*****), and arc operation instructions (CIR/**).
**).

The link motion instruction LNK is for moving the robot by joint motion, and ** is a speed specification value for motion. In this case, by inputting a predetermined command value, the robot controller operates at the commanded speed by referring to a speed table previously set in the robot controller. The linear interpolation motion instruction LIN causes the robot to move in a straight line, *
*** is the designated operating speed value. 0 arc motion instruction CIR is for making the robot move in a circular arc, and *** is the designated operating speed value.

Next, in step 15 and step 16, step 6
Teaching one work point is performed by the same operation as in step 9. If you want to provide a stop time for the robot, in step 17, the keyboard device 2 is
Input the waiting time instruction (TIMER/***) from 0. Here, *** is the waiting time designation value. If the taught point is, for example, the welding start point or the welding end point, in step 18, the work conditions set in the robot controller, that is, the welding condition number and arc on (ARCON/Ho*) or arc off < ARC
Input the command OFF/**) from the keyboard device.

** is the welding condition number, which is set in advance in the robot controller and instructed as a numerical value.

Repeat the above operations sequentially for the teaching points you want to teach.
A series of teaching points and instruction information indicating the robot's operating conditions, such as operating mode, speed, and working conditions, are simultaneously instructed, and the creation of continuous teaching data (work program TASK) is completed ( S
TP19.5TP20). Then, in step 21, the teaching data is output to the floppy disk 36.

The teaching data (work program TASK) created by the CAD system 2 and output to the floppy disk 36 through the above processing is supplied to the editing device 4 installed at the site, and is converted into a format compatible with the robot 8 that performs the actual work. The data format is converted into a data format, or modifications are made depending on the individual robot 8.

FIG. 3 is a processing flow showing the working procedure in this editing device 4.

First, the floppy disk 36 storing the teaching data (work program TASK) output from the CAD system 2 is inserted into the editing device 4 and read (
STP22). Next, in step 23, the teaching data is converted into a data format specific to the robot to which it is applied.

As explained above, the teaching data created by the CAD system includes data indicating each work point, operation mode/speed (link operation, linear interpolation operation, circular arc operation).
and waiting time information, work conditions, etc., and are output in one of the following two data formats.

That is, the first format is the joint position format (J
OINT POSITION), which represents the position of the robot as angle information of each joint. In the case of data in this format, the editing device 4 converts the format into information on the number of driving pulses for each axial muscle in order for the robot to actually move to that position based on the angle information of each joint.

The second format is the Cartesian position format (CART
ESIAN POSITION), and the position of the robot is determined by coordinate values in the robot's reference coordinate system (for example,
In the Cartesian coordinate system, it is expressed as X + 3' * Z ) and Euler angles. In the case of data in this format, the editing device 4 converts the coordinate values (x, y, z) and Euler angles into robot-specific coordinate system data.

That is, the format of the Euler angle is converted to the wrist angle while leaving the coordinate values (x, y, z) unchanged.

Next, in step 24, a three-dimensional shift calculation specific to the robot equipment is performed. The steric shift operation referred to here is as follows. In other words, the teaching data created by the CAD system 2 is simulated in an ideal environment and created as ideal values, but the robot to which this data is applied is installed in an actual work environment such as a factory, and each Each robot has its own installation errors and structural deviations. Therefore, it is necessary to correct the teaching data created from the CAD system 2 using a correction amount unique to each robot.

The editing device according to the present invention stores in advance the correction amounts obtained for each robot in each facility as a three-dimensional shift calculation matrix created by a method described later using FIG. 4, Correction values for teaching data are calculated from this steric shift calculation matrix.

FIG. 4 is a processing flow showing the procedure for creating this steric shift calculation matrix.

First, in step A, in the CAD system 2, teaching data is created by determining three points that will be the reference points for the three-dimensional shift calculation within the operating range of the target robot (this creation procedure is performed in the same manner as described above). Create this data as teaching data (work program TASK) and output it to a floppy disk (STPB
, 5TPC), up to this point is performed in the same way as normal teaching data creation with CAD System 2. For example, if a total of 4 robots are installed in factory equipment A, this operation and the following work will be performed for each robot. It will be done.

Next, in step D, the robot controller 6 and the teaching box 46 are connected to the actual robot of the target robot.
Using this method, three points of teaching data corresponding to the three points mentioned above are created by conventional manual operations.

In step E, when the editing device 4 receives the teaching data TASK(o) created with the actual machine, the editing device 4
Teaching data TA created in system 2
Calculate the steric shift calculation matrix from SK (a) and TAS K (o) (5TPF) and store it in a recording medium such as a floppy disk (STPG).
).

You only need to perform this operation once when installing the robot.
In normal work, it is only necessary to read out the three-dimensional shift calculation matrix corresponding to each robot from the recording medium in step 24 of FIG. 3, perform calculations based on this, and correct the teaching data.

The teaching data modified in this way is stored in the floppy disk 36 and transmitted to the robot controller 6 in step 25 (STP
26). This is robot controller 6, robot 8
This is to finely correct the teaching data by actually operating the robot 8 using the teaching box 46 connected to the teaching box 46, and corrects minute errors that could not be corrected by the above-mentioned three-dimensional shift calculation. This process can be performed at the stage of correcting errors discovered when the workpiece is actually flown to a predetermined loft (STP27).

This correction work is similar to the conventional manual work using a teaching pendant. Editing device 4
After allocating the teaching data TASK sent from the robot as a JOB program so that the robot can execute an operation according to the JOB program, the robot sends the JOB program step by step using the teaching box 46 as a teaching mode and confirms the operation.

If there is a step that you want to change or correct, fine-tune the direction of each axis you want to correct using the teaching box 46, press the change key, then press the record key to memorize the change and correction value, and execute this for all steps. . The teaching data modified in step 27 is received again by the editing device 4 as mask data and stored as a backup file (STP28).

In addition to the fine correction function provided by the teaching box 46, the food collection device 4 can perform processes such as adding, deleting, and changing teaching points and changing work conditions on the teaching data. FIG. 5 is a diagram showing the working procedure for this modification and change.

First, in step H, if editing work such as correction or change of the teaching data (work program TASK) is required, the target teaching data is edited by the editing device 4.
It is checked whether the file exists in a backup file such as a floppy disk. If it does not exist, the robot controller 6 is set to slave mode and the target teaching data (work program TASK) is read into the editing device 4 (STPI).

Next, give instructions for additions, deletions, corrections, changes to conditions, etc. (
STPJ), [Stored in the backup file after the assembly work is completed (5TPK)] In step L, the changed and corrected teaching data (work program TASK) is sent to the robot controller.

[Effects of the Invention] As explained above, the teaching data creation system for an industrial robot according to the present invention is provided independently of the CAD system for teaching data created using a CAD system, and the robot controller is The robot is equipped with an editing device that can be connected to the robot via the robot, and the editing device converts the format of the teaching data created by the CAD system into a teaching format compatible with the robot to which the teaching data is applied, and adds teaching points, etc. , delete, modify, change, or correct deviations in the teaching data due to deviations in the coordinate system based on the installation environment of the robot.

Therefore, an editing device that is independent of the CAD system can be installed at the manufacturing factory or other site where the robot to which the teaching data is actually applied is installed, and this editing device can be used to transfer the teaching data created by the CAD system to the robot. It is possible to convert the format to a data format compatible with . Therefore, even if the robot is changed to a new model or a robot with a different data format, it is only necessary to change the format conversion program of the editing device, providing a system with excellent versatility and quick response. It has the advantage of being able to In addition, it is possible to make corrections such as adding, deleting, and changing teaching data on the editing device, and CAD data can be edited whenever corrections are necessary.
There is no need to perform work using the system to create new teaching data, and there is no increase in work man-hours or work time, and it is also excellent in responsiveness in this respect. It also has the advantage that the correction results can be immediately returned to the robot to quickly check the operation on site.

According to the present invention, the ideal teaching data created by the CAD system and deviations based on actual robot installation errors, etc. are obtained in advance as a three-dimensional shift calculation matrix, and the editing device uses this calculation matrix. Since the teaching data can be obtained as corrected teaching data by using the calculation, it is possible to significantly reduce the number of man-hours required for correcting the teaching data in accordance with the actual machine.

Although the present invention has been described above with reference to preferred embodiments, the present invention is not limited to these embodiments.
Of course, various improvements and changes in design are possible without departing from the gist of the present invention.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of the configuration of a teaching data creation system for an industrial robot according to the present invention, Fig. 2 is a processing flow showing the teaching data creation procedure by the CAD system in Fig. 1, and Fig. 3 is a work procedure in the editing device. FIG. 4 is a process flow showing the procedure for creating a 3D shift calculation matrix for each robot. FIG. 5 is a process flow showing the work procedure for modifying and changing teaching data. 2...CAD system 4...editing device 6...
Robot controller 8...Robot l-12...Central processing unit 14...
Graphic processing unit 16... Graphic display 26.28.30.32... File 36... Floppy disk

Claims (1)

[Claims] (1) Accumulating data regarding the robot and/or the workpiece, displaying the robot and the workpiece on a graphic display, and creating teaching data by specifying a desired point on the graphic display using an input means. A CAD system that performs
an editing device that is provided independently of the AD system and can be connected to a desired robot via a robot controller, and is created by instructing a plurality of reference points within the operating range of the robot in the CAD system. A calculation matrix indicating the deviation is created and held in the editing device from the teaching data created by operating the robot at each point corresponding to the plurality of points on the robot, and the CAD system A teaching data creation system for an industrial robot, characterized in that the teaching data created by the robot is corrected by reading out the calculation matrix corresponding to the robot concerned.